PhysicsEngine Class Reference

Public Member Functions
	__init__ (self, PhysicsInterface physics_controller, "MyRobot" robot)
None	update_sim (self, float now, float tm_diff)

Public Attributes
	arm_gearbox = DCMotor.krakenX60()
	arm_motor = self.robot.score.arm.motor.sim_state
	arm_physics_model
	armMech2d
	elevator_gearbox = DCMotor.krakenX60(2)
	elevator_physics_model
	elevatorMech2d
list	elevatorMotors
	mech2d = Mechanism2d(50, 50)
	physics_controller = physics_controller
	robot = robot.container
	root = self.mech2d.getRoot("Root", 10, 0)
	sim_arm_model
	sim_elevator_model

Detailed Description

Simulates a swerve robot

Constructor & Destructor Documentation

__init__()

__init__	(		self,
		PhysicsInterface	physics_controller,
		"MyRobot"	robot )

:param physics_controller: `pyfrc.physics.core.Physics` object
                           to communicate simulation effects to
:param robot: your robot object

Member Function Documentation

update_sim()

None update_sim	(		self,
		float	now,
		float	tm_diff )

Called when the simulation parameters for the program need to be
updated.

:param now: The current time as a float
:param tm_diff: The amount of time that has passed since the last
                time that this function was called

Member Data Documentation

arm_gearbox

arm_gearbox = DCMotor.krakenX60()

arm_motor

arm_motor = self.robot.score.arm.motor.sim_state

arm_physics_model

arm_physics_model

Initial value:

=  sim.SingleJointedArmSim(
            system = LinearSystemId.singleJointedArmSystem(
                motor = self.arm_gearbox,
                J = .0001,
                gearing = 1.0
            ),
            gearbox = self.elevator_gearbox,
            gearing = 1,
            armLength = units.inchesToMeters(24),
            minAngle = units.degreesToRadians(-7),
            maxAngle = units.degreesToRadians(187),
            simulateGravity = True,
            startingAngle = units.degreesToRadians(90)
        )

armMech2d

armMech2d

Initial value:

=  self.elevatorMech2d.appendLigament(
            "Arm", 24, self.arm_physics_model.getAngleDegrees(), color = Color8Bit("#992200")
        )

elevator_gearbox

elevator_gearbox = DCMotor.krakenX60(2)

elevator_physics_model

elevator_physics_model

Initial value:

=  sim.ElevatorSim(
            plant = LinearSystemId.elevatorSystem(
                motor = self.elevator_gearbox,
                mass = 9.3,
                radius = units.inchesToMeters(1.79/2),
                gearing = 7
            ),
            gearbox = self.elevator_gearbox,
            minHeight = 1,
            maxHeight = units.inchesToMeters(30),
            simulateGravity=True,
            startingHeight=1,
            measurementStdDevs=[0.0, 0.0]
        )

elevatorMech2d

elevatorMech2d

Initial value:

=  self.root.appendLigament(
            "Elevator", self.elevator_physics_model.getPositionInches(), 90
        )

elevatorMotors

list elevatorMotors

Initial value:

=  [
            self.robot.score.elevator.motor.sim_state,
            self.robot.score.elevator.follower.sim_state
        ]

mech2d

mech2d = Mechanism2d(50, 50)

physics_controller

physics_controller = physics_controller

robot

robot = robot.container

root

root = self.mech2d.getRoot("Root", 10, 0)

sim_arm_model

sim_arm_model

Initial value:

=  sim.DCMotorSim(
            plant = LinearSystemId.DCMotorSystem( self.arm_gearbox, .0001, 1 ),
            gearbox = self.arm_gearbox,
            measurementStdDevs = [0.01,0]
        )

sim_elevator_model

sim_elevator_model

Initial value:

=   sim.DCMotorSim(
            plant = LinearSystemId.DCMotorSystem( self.elevator_gearbox, .0001, 7),
            gearbox = self.elevator_gearbox,
            measurementStdDevs = [0.01,0]
        )

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The documentation for this class was generated from the following file:

• /home/axolotl/FRC-2025/physics.py